Six-dimensional force sense sensor for minimally invasive surgical robot

A surgical robot and minimally invasive surgery technology, applied in the directions of surgery, instruments, measuring force, etc., can solve problems such as lack of measuring torque, and achieve the effects of avoiding negative effects, small size, and simple structure

Active Publication Date: 2013-10-30
SHANGHAI JIAO TONG UNIV
View PDF5 Cites 29 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But the sensor can only measure force and lacks the ability to measure torque

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Six-dimensional force sense sensor for minimally invasive surgical robot
  • Six-dimensional force sense sensor for minimally invasive surgical robot
  • Six-dimensional force sense sensor for minimally invasive surgical robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0022] Such as figure 1 As shown, this embodiment intends to measure the force and moment on the end effector of the manipulator in the three translational degrees of freedom X, Y and Z directions, that is, the six-dimensional force sense component. At the beginning of the operation, the manipulator is inserted into the lesion of the patient through the incision of the patient's abdominal cavity or thoracic cavity. In order to measure the force sensory information of the contact between the end ef...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a six-dimensional force sense sensor for a minimally invasive surgical robot. The six-dimensional force sense sensor comprises two cross-shaped-shaped beam elastic bodies, two baffles and an elastic body substrate, wherein arc I-shaped holes which are orthogonally distributed are formed in the cross-shaped beam elastic bodies respectively, the elastic bodies are installed at the head end and the tail end of the elastic body substrate in a clearance fit mode in the direction of strut beams stretched out of cross-shaped beams, and the elastic bodies are fixed by the two baffles. Four strain gauges are pasted on each of the four strut beams of each elastic body cross-shaped beam and used for measuring corresponding force or force torque, the four strain gauges on each strut beam form an equal-arm full bridge circuit, four signal lines are led from each equal-arm full bridge circuit and bundled into one bundle after being wrapped by a heat shrink tube in a hot shrinkage mode, and then the bundle is led out of a mechanical hand through a mechanical hand hollow metal round rod from space regions among the cross-shaped beam strum beams. The sensor is installed at the position close to an end effector of the minimally invasive surgical mechanical hand and measures six-dimensional force sense components, and the negative influence of the friction of the mechanical hand and an incision on data measured by the sensor is avoided.

Description

technical field [0001] The invention relates to the technical field of minimally invasive surgical robots, in particular to a six-dimensional force sensor for minimally invasive surgical robots. Background technique [0002] Robotic surgery has gradually become the main trend of minimally invasive surgery. The robot breaks through the limitations of human eyes and arms, and has stability, reproducibility and accuracy that cannot be compared with human hands, preventing possible shaking of human hands. Robotic surgery reduces surgical trauma and blood loss; reduces perioperative sequelae and complications; expands the age range of patients who can undergo surgery and makes it possible for some critically ill patients to undergo surgery. [0003] In traditional surgery, when the doctor holds the surgical instrument to operate the patient, the contact force between the surgical instrument and the affected area can be directly transmitted to the doctor through the surgical inst...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/22A61B17/00
Inventor 蒋峻谢叻于海龙石运永周朝政
Owner SHANGHAI JIAO TONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap